Gyroscope



Jan. 23, 1945. H. E. WHATLEY GYROSCOPE Filed April 25, 1941 2 Sheets-Sheet l w a W 3. a 1 w w f. M. 9 1 W 1W0. 1i w Jan. 23, 1945. H. E WHATLEY 2,353,053

GYROSCOPE Filed April 25, I 1941 2 Sheets-Sheet 2 Patented Jan. 23, 1945 2,368,05&

GYROSCOPE Hubert Edward Whatley, Cricklewood, London,

England, assignor to S. Smith & Sons (England) Limited, aBritish company 41., S al N9, 3 23.38 In Great Britain April 3, 1940 Application April 25 9 Claims.

This invention relates to gyros pic app having the gyroscopic rotor mounted with three degrees of freedom such as directional gyroscopic apparatus and gyro verticals or artificial horizons and is concerned with jet reaction mechanism for maintaining the rotor axis in a predetermined position about one or both of the other axes of freedom. The invention is therefore particularly applicable to gyrcscopes in which air or like fluid is used to drive the rotor because this air may also be employed for producing the jet reaction, but it is applicable to gyroscopes in which the rotors are driven in other ways.

It has been proposed, in the case of a gyro vertical in which the rotor is mounted in a casing to which air is supplied for driving the rotor, to provide this casing on its lower sides with air chambers communicating with the rotor casing and having pairs of oppositely directed jets through which the air employed for driving the rotor issues horizontally, The passage of air through these jets is controlled by vertical pendulous shutters pivoted on the rotor casing and so arranged that tiltingof the rotor causes a precessional torque to be applied to the gyroscope to maintain the rotor axis Vertical. The use of these air chambers limits the movement of the outer gimbal ring in which the rotor casing is mounted unless this ring is made sufiiciently large to clear these chambers.

According to the present invention there is provided a gyroscopic apparatus comprising a rotor having inner and outer gimbals, wherein the inher gimbal carries a pair ofjets, through which a fluid is forced, positioned at opposite sides of one gimbal axis and so that the fluid issues from the jets in substantially the same direction in order to produce torques in .opposite directions about this gimbal axis and wherein the inner gimbal also carries gravity controlled shutters for obstructing the flow of fluid through the jets,

Which shutters increase the obstruction to flow through one jet and decrease-the obstruction to flow through the other jet when the rotor is tilted about the second gimbal axis so as to produce a resultant processing torque tilting the rotor back again. With this apparatus the use of separate air chambers is avoided and complete freedom of rotation of the inner gimbal can "be provided in a very compact construction of the apparatus.

The invention also comprises a gyroscopic apparatus such as a gyro vertical having a rotor with a vertical spinning axis wherein the inner gimbal also carries a second pair of jets positioned at oppcsitesides of the second gimbal axis reaction mocha a d so that. the and i sues not: t se as in substantially thesame direc i n. n d r to P oclu e-torques in o posi e d e tiqn abo th set and eimbal axis a d wher n t e simba a so car ies. shu er ior obs ruct n the ow o fluid throu h these Jets. which la t r shu er crease t e obstru tion toflow th ou h ne of the second pair of jets and dec e se th obstruction to flow through the other jet when the rotor is the inner gimbal about a substantially vertical axis or axes. vIn an alternative construction the shutters are pivotally mounted on the inner gimbal about an axis or axes parallel to and in the vertical plane of the gimbal aXis about which tilting of the rotoris corrected by these shutters. Means may conveniently be provided for adjustment of the shutters to :vary the sensitivity of the control of tilting of the rotor axis.

A further feature of the invention consists in that w h ers, n or eaqho a a oi ets. are formed as a unitary gravity controlled meme the mo ement of thisme ber re a e y to the nner sim al se ing to increa e the ob t ucti n o flow throu h one at t e vqli e nons-tlihs Pa r o Jet and decrease the flow throu h he o er o hese J ts In one nstru ti h vih shutte s which a e pi ota yinovnte about a substantia y e tica a is or was there a provided two pairs crisis on one .hOIiZ IltalsiQ Qf the innerhgimbal with two pairs o co-operating shutte s m u ted on ve tical pivots ho zonta ly disp aced from one anothe each Pa of hu ters for example be ng consti uted by a ing e g avity c ntro l d member-as a o e aid.- l h th s con.- st io th nivots ferti e shut er ma be a ccmmoda d conven ntly n-o sm ll s e.

The invention especially applicable to gyro,- scen ppara us in which th inner .gimbal is const uted ove eating o the ro or o whichai is suppl d to ratete the rotor an in which the ets are formed by orifi e in c s .IWO specific t mbod ments of the invention are through the axis of the outer gimbal l3.

and the shutters for the shown by way of examples in the accompanying drawings, in which:

Figure 1 is an elevation partly in section of a gyro vertical with the outer gimbal omitted, employing one form or erecting means aCCOrdil'lg to the invention;

Figure 2 is a plan of the gyro vertical shown in Figure 1 and including the outer gimbal;

Figure 3 is a diagrammatic elevation partly in section of a gyro vertical having an alternative form of erecting mechanism;

Figure 4 is an under plan of the gyro vertical shown in Figure 3, and

Figure 5 is a detail view.

Referring to Figures 1 and 2 of the drawings the gyro vertical comprises a rotor l mounted for rotation about a vertical axis in a casing ll constituting the inner gimbal. This casing is mounted by means of trunnions 12 about an axis a:-x in an outer gimbal ring 13. The outer gimbal ring is mounted for rotation about axis yy in bearings M in a fixed supporting frame (not shown). The rotor is driven by means of air entering a passage l passing through one of the bearings l4 of the outer gimbal through passages IS in the outer gimbal itself and through further passages l1 in the trunnions I2 and bearings therefor to jets l8 for directing air streams on to the rotor.

The top of the rotor casing is provided with two pairs of jets l9 and adjacent the periphery of the casing. The jets are disposed symmetrically about the rotor axi and the jets l9 lie in a vertical plane through the axis of the inner gimbal II and the jets 20 lie in a vertical plane Air which enters the rotor casing by way of the jets l8 for turning the rotor passes out through the jets l9 and 20 which jets are so arranged that the air issues vertically upwards from the rotor casing.

. Each jet has a shutter movable horizontally adjacent the end of the jet without touching it, the shutters forv the jets l9 being indicated at 2| jets 20 being indicated at 22. The shutters 2| are formed by the outer ends of arms 24 integral with one another and carried on a flange 25 of a vertical pivot 26. Similarly, the shutters 22 are formed by the outer ends of arms 21 integral with one another and carried on a flange 28 of a vertical pivot 29.

The pivot 26 is displaced from the rotor axis in a vertical plane containing the outer gimbal axis and the pivot 29 is displaced from the rotor axis in a vertical plane containing the inner gimbal axis. The arms 24 and also the similar arms 21,

are therefore not directly in line and they are in consequence provided with a balancing extension 39 for balancing the arms in a vertical plane normal to the arms. Each of the pivots 26 and 29 carries at its lower end a jewel bearing 3| resting on a pivot 32 on the top of the rotor casing and at its upper end is engaged in a jewel bearin 33 carried by a plate 34. This plate is supported on a column 35 upstanding from the top of the rotor casing. The pivots 26 and 29 together with their bearings are thus accommodated side by side so as to obtain a maximum distance between the bearings of each pivot for a given limited head lOOm. Furthermore, only one arm of a pair overlies an arm of the other pair.

The shutters are provided with sharp or knife edges 36 so as to give a sharp cut-off and these edges normally lie across the respective jets. Each pair of shutters is so arranged that by rotation .of the shutters the obstruction ofa jet by one shutter increases and the obstruction of the other jet by the other shutter decreases. The shutters are to some extent borne by the air issuing from the jets so that the weight on the lower pivots of the arms 24 and 21 becomes negligible.

In one of each pair of arms 24 and 21 there is secured an interchangeable weight 31 so as to give the pair of arm a gravity bias when the rotor casing I9 is tilted about a horizontal axis lengthwise of the arms. Alternatively, a weight may be adjustably mounted on the arm. As a result of this gravity bias, when the rotor casing is tilted the arms 24 and 21 rotate on the rotor casing and the extent of rotation is limited by stops 38 for the arms 24 and similar stops 39 for the arms 21.

In operation, should the rotor axis tilt about the axis y-y, for instance, in a clockwise direction when viewed as in Figure 1, the arms 21 carrying the shutters 22 will turn in consequence of the gravity bias so that one of the shutters 22 more completely obstructs its jet, while the other shutter 22 moves to ofier less obstruction to its jet. The movement of the shutters may be to the limit provided by one of the stops 39, as is shown in Figure 2. The result of this unbalancing of the shutters 22 with regard to their jets 20 is that a processing torque is produced about the inner gimbal axis a:m to process the rotor axis back to the vertical. If the tilting of the rotor axis is in the opposite direction about the gimbal axis z/y then a reverse rotation of the arms 21 takes place and again, the rotor is caused to precess back to the vertical. Similarly, if the rotor axis is tilted about the inner gimbal axis .r-a: a rotation of the arms 24 takes place, causing the shutters 21 to increase the obstruction to one of the jets l9 and decrease the obstruction to the other jet l9 so as to produce a torque about the axis yy for precessing the rotor axis back to the vertical.

In a modification of the construction shown in Figures 1 and 2 one pair of jets, together with its shutters is provided on the top of the rotor casing and the second pair of jets, together with its shutters, is provided at the bottom of the rotor casing. According to a further modification both pairs of jets and associated shutters are provided at the bottom of the casing.

In the construction shown in Figures 3 to 5 the shutters instead of being mounted for rotation on vertical pivots, are mounted for rotation about horizontal pivots in a gimbal or rotor casing. The rotor casing I l is provided with a pair of jets ill-positioned symmetrically about the rotor axis in a vertical plane through the inner gimbal axis m-sc, like the jets [9 in the construction shown in Figures 1 and 2, but at the bottom of the rotor casing. Co-operating with these jets there is a pair of shutters 4| formed by a unitary pendulous stirrup member 42 pivoted on the rotor casing about an axis parallel to and in the vertical plane of the gimbal axis x-zr. The shutters are formed with knife edges 43 as in the preceding construction and are so arranged that rotation of the rotor casing about the gimbal axis causes one of the jets 40 to be obstructed to an increased extent by the co-operating shutter and th other of the jets to be obstructed to a decreased extent. Thus, as in the preceding construction, when the rotor is tilted about the inner gimbal axis x-x the movement of the jets 40 in relation to the shutters 4| results in a torque being produced about the axis y-y, serving to process the rotor back to the vertical position. Another pair of jets with associated shutters may be provided foriproduclng a precessing aces-cos torque when the rotor is tilted about the axis iii which case there is a second pendulous stirrup member position at right-angles to the stirrup member 42 and pivoted on the rotor casing H. In order to adjust the sensitivity of the control each limb of the stirrup member ii-has a lengthwise adjustablejewel bearing 44 receiving a pivot pin 45 which is vertically adjustable on the rotor casing l it Thus, the pivotal mounting of the stirrup member may be varied vertidaily with respect to the axis- :z'm' or the inner gimbal. In this construction the jets may be provided at the top instead of at the bottom of the rotor casing, in which case the limbs of the stirrup member are extended upwardly to form shuttersv overlying these jets. jets may be provided at the top of the casing and another pair at the bottom of the casing.

It will be seen that by means of the apparatus according to this invention the use of separate air chambers is avoided and this enables complete freedom of rotation of the outer gimbal ring in a very compact construction of the instrument which is not possible with the use of separate chambers on the rotor casing with associated pendulous shutters. It is very convenient to provide the jets directly on the rotor casing in the case where air is supplied to the casing for driving the rotor, but alternatively, in cases where an inner gimbal ring is employed in place of the rotor casing the jets may be provided on extem sion pipes leading away from the rotor axis in order to obtain an adequate torque and the air supply to the jets may be provided by means of conduits in this inner gimbal ring.

I claim:

1. In combination wtih a freely mounted or non-pendulous gyroscopic apparatus which comprises a casing and a single rotor mounted directly on an inner gimbal ring and which inner gimbal rin is pivotally mounted in the casing; erecting means comprising a pair of jets provided on the inner gimbal for ejection of fluid, said jets being positioned at opposite sides of one gimbal axis and both having their openings directed in the same direction in order to produce torques in opposite directions about said gimbal axis but not about the other gimbal axis, and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets, which shutters are arranged to increase the obstruction to flow through one jet and decrease the obstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant processing torque tiltin the rotor back again.

2. In combination with a freely mounted or non-pendulous gyroscopic apparatus which comprises a casing and a single rotor mounted directly on an inner gimbal ring and which inner gimbal ring is pivotally mounted in the casing; erecting means comprising a pair of jets provided on the inner gimbal for the ejection of fluid, said jets being positioned at opposite sides of one gimbal axis and both having their openings directed in the same direction in order to produce torques in opposite directions about said gimbal axis but not about the other gimbal axis, and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets, which shutters are arranged to increase the obstruction to-flow through one jet and decrease the obstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant pre- Again, one pair of coming torque tilting the rotor back again about said second gimbal axis, said inner gimbal carr ying a second pair of jets positioned at opposite sides of second gimbal axis and directed that fluid issues from the latter jets in: substantially the same direction in order to produce torques in opposite directions about said second gimbal axis, gravity controlled shutters on said inner gimbal for obstructing the flow through saidsecond pair of jets, which latter shutters increase the ob struction to flow through one of said second pair of jets and decrease the obstruction to now through the other of said second pair of jets when the rotor is tilted about said first gimbal axis so as to produce a resultant processing torque tilting the rotor back again about said first gimbal axis. Iv

3. A gyroscopic apparatus comprising a rotor, inner and outer gimbals for said rotor, said inner gimbal carrying a pair of jets for fluid flow therethrough positioned at opposite sides of one gimbal axis and directed for the fluid to issue from the jets along substantially vertical lines in order to produce torques in opposite direction about said first gimbal axis but not about the other gimbal axis and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets and movable relatively to said jets in. a substantially horizontal plane to increae the obstruction to flow through one jet and decrease theobstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant precessing torque tilting the rotor back again.

4. A gyroscopic' apparatus comprising a rotor, inner and outer gimbals for said rotor, said inner gimbal carrying a pair of jets for fluid flow there,- through positioned at opposite sides of one gin'i bal axis and directed for the fluid to issue from the jets along substantially vertical lines in order to produce torque in opposite directions about said first gimbal axis and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets which shutters are each i pivotally mounted on said inner gimbal about a substantially vertical axis for movement of the shutters relatively to said jets in a substantially horizontal plane to increase the obstruction to flow through one jet and decrease the obstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant processing torque tilting the rotor back again.

5. A gyroscopic apparatus comprising a rotor, inner and outer gimbals for said rotor, said inner gimbal carrying a pair of jets for fluid flow therethrough positioned at opposite sides of one gimbal axis and directed for the fluid toissue from the jets along substantially vertical lines in order to produce torques in opposite directions about said first gimbal axis and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets which shutters are each pivotallymounted on said inner gimbal about an axis parallel to and in the vertical plane of the second gimbal axis to increase the obstruction to flow through one jet and decrease the obstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant precessing torque tilting the rotor back again.

6. A gyroscope apparatus comprising a casing, an inner gimbal ring pivotally mounted on the casing, a single rotor mounted directly on the inner gimbal ring, which inner gimbal ring carries a pair of Jets for fluid flow therethrougnsaid jets being positioned at opposite sides of one gimbal axis and directed so that fluid issues from the jets in substantially the same direction in order to produce torquesin opposite directions about said gimbal axis, and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid throughthe jets, which shutters are arranged to increase the obstruction to flow through one jet and decrease the obstruction to flow through the other of said jets when the rotor is tilted about the second gimbal axis, so as to produce a resultant precessing torq-ue tilting the rotor back again under gravity control and means for adjusting the extent of travel of the shutters for a given tilt of the instrument, whereby the sensitivity of the gravity control may be varied.

7. A gyroscopic apparatus comprising a rotor with a vertical spinning axis, inner and outer gimbals for said rotor, two pairs of jets carried on said inner gimbal and arranged to direct fluid along vertical lines, one of which pairs of jets' are arranged at opposite sides of one gimbal axis so as to produce opposed torques about that axis and the other pair of jets are arranged at opposite sides of the second gimbal axis so as to produce opposite torques about that axis and gravity controlled shutters on said inner gimbal for obstructing the flow of fluid through the jets, which jets and co-operating shutters hav relative gravitational movement when the rotor is tilted to produce a resultant precessing torque by jet reaction tilting the rotor back again.

8. A gyroscopic apparatus comprising a rotor with a vertical spinning axis, inner and outer gimbals for said rotor, two pairs of jets carried on said inner gimbal and arranged to direct fluid flow along vertical lines, one or which pairs of jets are arranged at opposite sides or one gimbal axis so as to produce opposed torques about that axis and the other pair of jets are arranged at opposite sides of the second gimbal axi so as to produce opposed torques about that axis and two pairs of gravity controlled. shutters respectively allocated to said pairs of jets for obstructing the flow of fluid therethrough which pairs of shutters are mounted on vertical pivots carried by said inner gimbal and horizontal spaced from one another, which jets and co-operating shutters have relative gravitational movement when the rotor is tilted to produce a resultant precessing torque by jet reaction tilting the rotor back again.

9. A gyroscopic apparatus comprising a rotor with a vertical spinning axis, inner and outer gimbals for said rotor, two pairs of jets carried on said inner gimbal and arranged to direct fluid along vertical lines, one of which pairs of jets are arranged at opposite sides of one gimbal axis so as to produce opposed torques about that axis and the other pair of jets are arranged at opposite sides of the second gimbal axis so as to produce opposed torques about that axis and two pairs of shutters respectively allocated to said pairs of jets for obstructing the flow of fluid therethrough, each of said pairs of shutters being constituted by a unitary gravity controlled member mounted on vertical pivots on said inner gimbal and the pivots of the two pairs of shutters being horizontally displaced from one another, which jets and co-operating shutters have relative gravitational movement when the rotor is tilted to produce a resultant precessing torque by jet reaction tilting the rotor back again.

HUBERT EDWARD WHATLEY. 

